{"id":"https://openalex.org/W4312313793","doi":"https://doi.org/10.1109/biorob52689.2022.9925341","title":"Development of soft variable stiffness actuator with tendon-driven layer jamming mechanism","display_name":"Development of soft variable stiffness actuator with tendon-driven layer jamming mechanism","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4312313793","doi":"https://doi.org/10.1109/biorob52689.2022.9925341"},"language":"en","primary_location":{"id":"doi:10.1109/biorob52689.2022.9925341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925341","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067040291","display_name":"Seoyeon Ham","orcid":"https://orcid.org/0009-0008-8904-6975"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seoyeon Ham","raw_affiliation_strings":["Hanyang University,Department of Interdisciplinary Robot Engineering Systems,Gyeonggi-do,Republic of Korea","Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Interdisciplinary Robot Engineering Systems,Gyeonggi-do,Republic of Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045742114","display_name":"Brian Byunghyun Kang","orcid":"https://orcid.org/0000-0002-5418-2781"},"institutions":[{"id":"https://openalex.org/I28777354","display_name":"Sejong University","ror":"https://ror.org/00aft1q37","country_code":"KR","type":"education","lineage":["https://openalex.org/I28777354"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Brian Byunghyun Kang","raw_affiliation_strings":["Sejong University,Department of Intelligent Mechatronics Engineering,Seoul,Republic of Korea","Department of Intelligent Mechatronics Engineering, Sejong University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sejong University,Department of Intelligent Mechatronics Engineering,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I28777354"]},{"raw_affiliation_string":"Department of Intelligent Mechatronics Engineering, Sejong University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I28777354"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005816876","display_name":"Jihoo Kim","orcid":"https://orcid.org/0009-0009-3174-6239"},"institutions":[{"id":"https://openalex.org/I107558787","display_name":"Shin Ansan University","ror":"https://ror.org/00z50sv45","country_code":"KR","type":"education","lineage":["https://openalex.org/I107558787"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihoo Kim","raw_affiliation_strings":["Hexar Humancare Co., Ltd.,Ansan-si,Gyeonggi-do,Republic of Korea","Hexar Humancare Co., Ltd., Ansan-si, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Hexar Humancare Co., Ltd.,Ansan-si,Gyeonggi-do,Republic of Korea","institution_ids":["https://openalex.org/I107558787"]},{"raw_affiliation_string":"Hexar Humancare Co., Ltd., Ansan-si, Gyeonggi-do, Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020479276","display_name":"Seunghoon Hwang","orcid":"https://orcid.org/0000-0001-9191-2416"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seunghoon Hwang","raw_affiliation_strings":["Neuromuscular Control and Human Robotics Lab., Arizona States University,AZ,USA","Neuromuscular Control and Human Robotics Lab., Arizona States University, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Neuromuscular Control and Human Robotics Lab., Arizona States University,AZ,USA","institution_ids":["https://openalex.org/I138006243"]},{"raw_affiliation_string":"Neuromuscular Control and Human Robotics Lab., Arizona States University, AZ, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004919582","display_name":"Wan-Soo Kim","orcid":"https://orcid.org/0000-0001-9669-4761"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I107558787","display_name":"Shin Ansan University","ror":"https://ror.org/00z50sv45","country_code":"KR","type":"education","lineage":["https://openalex.org/I107558787"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Wansoo Kim","raw_affiliation_strings":["Robotics Department,Ansan-si,Gyeonggi-do,Republic of Korea","Robotics Department, Ansan-si, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Department,Ansan-si,Gyeonggi-do,Republic of Korea","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I107558787"]},{"raw_affiliation_string":"Robotics Department, Ansan-si, Gyeonggi-do, Republic of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067040291"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.6413,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64544357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9726999998092651,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8293901681900024},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7017160654067993},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6720635890960693},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6639484167098999},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.46697211265563965},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.441692054271698},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.411909282207489},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4104795455932617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3539852201938629},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.34473252296447754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3373815417289734},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2859421372413635},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15007394552230835},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.132211834192276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11746370792388916},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.10331523418426514}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8293901681900024},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7017160654067993},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6720635890960693},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6639484167098999},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.46697211265563965},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.441692054271698},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.411909282207489},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4104795455932617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3539852201938629},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.34473252296447754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3373815417289734},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2859421372413635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15007394552230835},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.132211834192276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11746370792388916},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.10331523418426514},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob52689.2022.9925341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925341","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.6700000166893005}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1956237300","https://openalex.org/W1986257505","https://openalex.org/W2043137231","https://openalex.org/W2070825536","https://openalex.org/W2102159351","https://openalex.org/W2105236479","https://openalex.org/W2114126353","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2295429002","https://openalex.org/W2312756180","https://openalex.org/W2514729842","https://openalex.org/W2522211847","https://openalex.org/W2773727201","https://openalex.org/W2782159945","https://openalex.org/W2915510392","https://openalex.org/W2936025978","https://openalex.org/W2970489687","https://openalex.org/W3038104529","https://openalex.org/W3110075270","https://openalex.org/W3188289385","https://openalex.org/W3194931751","https://openalex.org/W4200024633","https://openalex.org/W4231029761"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2186725032","https://openalex.org/W2043614334","https://openalex.org/W2089271935","https://openalex.org/W2369461288","https://openalex.org/W2393145056","https://openalex.org/W2372377814","https://openalex.org/W2382925371","https://openalex.org/W2363718127","https://openalex.org/W2074591652"],"abstract_inverted_index":{"As":[0,132],"the":[1,22,64,77,97,107,118,144,152,165,173,178,183,201,204,207,210],"development":[2,65],"of":[3,24,37,45,66,81,99,125,135,192,203,209],"soft":[4,8,12,78,82,104,217],"exoskeleton":[5,13],"is":[6,89],"ac-tivated,":[7],"actuators":[9],"used":[10,75,114],"for":[11],"have":[14],"also":[15],"become":[16],"an":[17,190],"important":[18],"part.":[19],"To":[20],"ensure":[21],"safety":[23],"people":[25,228],"with":[26,43,102,109,189,219],"disabilities,":[27],"stiffness":[28,53,68,98,124,146,154,167,174],"must":[29],"be":[30,73,113,141,225],"adjusted":[31],"according":[32,49],"to":[33,50,94,117,227],"trauma":[34],"and":[35,41,54,127,158,180,206],"recovery":[36],"a":[38,133,148,186],"specific":[39],"patient,":[40],"mechanism":[42,70,88,205,223],"capable":[44],"appropriate":[46],"rehabilitation":[47,85],"exercise":[48],"their":[51],"muscle":[52,55],"tension":[56],"are":[57],"needed.":[58],"Therefore,":[59,197],"this":[60,110],"paper":[61],"focused":[62],"on":[63],"variable":[67],"tendon-driven":[69,220],"that":[71,143,216],"can":[72,140,199],"potentially":[74],"in":[76,122,155],"actuator":[79,108,218],"part":[80],"lower":[83,119,231],"limb":[84,232],"robot.":[86],"This":[87],"characterized":[90],"by":[91,115],"being":[92],"able":[93],"accurately":[95],"derive":[96],"various":[100],"ranges":[101],"one":[103],"actuator.":[105],"Since":[106],"characteristic":[111],"will":[112,224],"attaching":[116],"limb,":[120],"difference":[121],"axial":[123],"jammed":[126,145],"unjammed":[128,153],"states":[129],"was":[130],"measured.":[131],"result":[134],"testing":[136],"different":[137],"materials,":[138],"it":[139],"seen":[142],"has":[147,164,185],"larger":[149],"value":[150],"than":[151],"all":[156],"cases,":[157],"among":[159],"them":[160],"Dragon":[161],"Skin":[162],"30":[163],"largest":[166],"gap":[168,175],"at":[169],"0.883":[170],"N/mm.":[171],"Moreover,":[172],"calculated":[176],"through":[177,182],"methodology":[179],"measured":[181],"experiment":[184],"similar":[187],"range":[188],"error":[191],"0.045":[193],"N/mm":[194],"or":[195],"less.":[196],"we":[198,214],"prove":[200],"effectiveness":[202],"accuracy":[208],"methodology.":[211],"In":[212],"addition,":[213],"believe":[215],"layer":[221],"jamming":[222],"helpful":[226],"who":[229],"need":[230],"rehabilitation.":[233]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}